Marvelmind Super-MP-3D User manual

Marvelmind Indoor Navigation System
Operating manual
v2022_08_24
www.marvelmind.com

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Contents
1. Executive summary........................................................................................................................13
1.1. Key capabilities:........................................................................................................................14
1.2. Legend......................................................................................................................................15
2. Basics of the system......................................................................................................................16
2.1. What’s in the box ......................................................................................................................16
2.1.1. Starter Set Super-MP-3D:.................................................................................................... 16
2.1.2. Starter Set IA-04-2D-Badge: ............................................................................................... 16
2.2. Indoor Navigation System architectures...................................................................................17
2.3. Architectures’ elements ............................................................................................................19
2.4. Indoor “GPS” System close-up and internal view.....................................................................20
3. System elements............................................................................................................................23
3.1. Control system (Dashboard).....................................................................................................23
3.2. Stationary beacon.....................................................................................................................24
3.3. Mobile beacon a.k.a. “hedgehog” .............................................................................................25
3.4. Modem......................................................................................................................................26
3.5. Different types of modems........................................................................................................27
3.5.1. Super-Modem...................................................................................................................... 27
3.5.2. Modem HW v5.1.................................................................................................................. 29
3.5.3. Modem HW v4.9.................................................................................................................. 30
3.6. Different types of beacons........................................................................................................31
3.6.1. Super-Beacon...................................................................................................................... 32
3.6.2. Beacon Mini-RX................................................................................................................... 40
3.6.3. Beacon Mini-TX................................................................................................................... 47
3.6.4. Beacon Industrial-TX-Metal................................................................................................. 48
3.6.5. Beacon Industrial-RX........................................................................................................... 50
3.6.6. Industrial Super-Beacon Metal-25kHz................................................................................. 53
3.6.7. Beacon HW v4.9.................................................................................................................. 55
4. Software pack ................................................................................................................................56
4.1. Download and open..................................................................................................................57
4.2. Dashboard folder ......................................................................................................................58
4.3. Software IA folder .....................................................................................................................59
4.3.1. Types of Industrial-Super-Beacons: .................................................................................... 61
4.4. Software NIA folder...................................................................................................................62
4.5. Super-Modem folder.................................................................................................................64
5. SW settings descriptions................................................................................................................65
5.1. Super-Modem’s SW update and configuration description ......................................................65
5.1.1. Super-Modem’s SW update................................................................................................. 65
5.1.2. How to update Super-Modem (for SW version from v7.000) .............................................. 66
5.1.3. How to update Super-Modem’s SW (for SW version older than v7.000): ........................... 68
5.1.4. Super-Modem’s configuration.............................................................................................. 69

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5.2. SW update (USB/Radio/DFU) ..................................................................................................71
5.2.1. SW update via USB............................................................................................................. 71
5.2.2. SW update via Radio........................................................................................................... 73
5.2.3. SW update via DFU Programming...................................................................................... 74
6. Setting up the system ....................................................................................................................79
6.1. Introduction...............................................................................................................................79
6.2. DIP switch positions..................................................................................................................80
6.2.1. DIP switch position for OFF beacon.................................................................................... 80
6.2.2. DIP switch position for work and HEX programming........................................................... 80
6.2.3. DIP switch position for DFU programming .......................................................................... 80
6.3. Starter Set Super-MP-3D (NIA and IA).....................................................................................81
6.4. Starter Set HW v4.9..................................................................................................................92
6.5. Starter Set NIA-SmallDrone....................................................................................................100
6.6. Starter Set Industrial-NIA-01...................................................................................................109
7. Dashboard menu and Parameters...............................................................................................119
7.1. Dashboard general view.........................................................................................................119
7.2. Diagnostics messages window...............................................................................................120
7.3. Table of distances...................................................................................................................123
7.4. Devices List.............................................................................................................................125
7.5. Visualization settings ..............................................................................................................126
7.6. Map Settings...........................................................................................................................127
7.7. Modem/beacon’s quick control panel .....................................................................................128
7.8. Celling and Mirroring buttons on the Dashboard....................................................................129
7.9. Detailed settings .....................................................................................................................130
7.9.1. Modem Settings................................................................................................................. 130
7.9.2. Beacon’s settings............................................................................................................... 136
7.10. Radio frequency band and Carrier frequency.........................................................................148
7.11.Different hedgehog colors in the Dashboard..........................................................................149
7.12. Different beacons’ colors in the Dashboard............................................................................150
8. The Map.......................................................................................................................................151
8.1. Introduction.............................................................................................................................151
8.2. Map layers ..............................................................................................................................152
8.3. The Submap ...........................................................................................................................153
8.4. Submaps’ service zones.........................................................................................................154
8.5. Handover zones......................................................................................................................155
8.6. Beacons’ ultrasonic frequencies .............................................................................................158
9. Features.......................................................................................................................................159
9.1. Licenses..................................................................................................................................159
9.1.1. How to activate licenses .................................................................................................... 159
9.1.2. License MMSW0005 designation in Dashboard ............................................................... 161
9.2. Islands feature ........................................................................................................................162

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9.3. Dashboard Monitoring Mode ..................................................................................................166
9.4. Microphone settings................................................................................................................167
9.4.1. Specific Marvelmind devices ............................................................................................. 167
9.4.2. Separate Omni-microphone............................................................................................... 168
9.5. Restart if modem is disconnected...........................................................................................170
9.6. Geofencing zones...................................................................................................................171
9.7. Geofencing alarm (MMSW0006 license)................................................................................174
9.8. PPS (Pulse per second) signal...............................................................................................177
9.9. Floors feature (FN0011) .........................................................................................................178
9.9.1. The general view ............................................................................................................... 178
9.9.2. Floor Settings..................................................................................................................... 179
9.9.3. Map layers ......................................................................................................................... 181
9.9.4. Loading the Floorplan (Substrate)..................................................................................... 182
9.10. All hedgehogs update every cycle..........................................................................................184
9.11. Filters ......................................................................................................................................186
9.11.1. Spot filtering (for IA only)................................................................................................... 186
9.11.2. Window of averaging (NIA only)........................................................................................ 187
9.12. Submap Settings.....................................................................................................................188
9.13. Axis rotation feature (FN0002)................................................................................................189
9.14. Vertical submaps feature (FN0003)........................................................................................191
9.14.1. How to build vertical submap for stable Z:......................................................................... 192
9.15. Submaps feature (FN0004) ....................................................................................................194
9.15.1. Starting submaps............................................................................................................... 195
9.15.2. How to create a service zone: ........................................................................................... 199
9.16. Handover Zones Setting.........................................................................................................201
9.17. Paired beacons (FN0005).......................................................................................................202
9.18. Paired microphones................................................................................................................204
9.19. Map settings............................................................................................................................205
9.20. Background color....................................................................................................................206
9.21. Hedge color change (FN0006) ...............................................................................................208
9.22. Payload streaming (FN0007)..................................................................................................210
9.23. IMU feature (FN0008).............................................................................................................211
9.23.1. Setup IMU feature.............................................................................................................. 211
9.23.2. Using Data in the Python Library Example........................................................................ 213
9.24.IMU axis positioning................................................................................................................214
9.25. Player feature (FN0009) .........................................................................................................216
9.26. Real-time player feature (FN0010).........................................................................................218
9.27. CSV format .............................................................................................................................220
10. Interfaces .....................................................................................................................................221
10.1. Super-beacon external interface pinout top view ...................................................................222
4x4 pinout for Super-Beacon: ...........................................................................................................222

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10.2. Beacon HW v4.9 external interface 4x4 pinout top view........................................................223
10.3. Modem HW v4.9 external interface pinout top view...............................................................224
10.4. Mini-RX internal solderable pinouts (for experienced users only)..........................................225
11. Advanced system settings and optimization................................................................................226
11.1. Radio Profiles compatibility.....................................................................................................227
Examples of different configurations .............................................................................................. 228
11.2. Wi-Fi settings for Super-Modem.............................................................................................229
11.2.1. Wi-Fi settings menu in Dashboard .................................................................................... 229
11.2.2. Static IP.............................................................................................................................. 231
11.3. Building big maps in Inverse Architecture (IA)........................................................................233
11.3.1. Introduction........................................................................................................................ 233
11.3.2. TDMA sequence:............................................................................................................... 234
11.3.3. TDMA Type 2 - Full-overlapping submaps........................................................................ 236
11.4. Increasing update rate............................................................................................................239
11.5. Reducing location update latency...........................................................................................240
11.6. How to Place Beacons............................................................................................................242
11.7. Using the Oscilloscope ...........................................................................................................243
11.8. Proper Ultrasonic Signal Detection.........................................................................................244
11.9. Using hedgehog.log file ..........................................................................................................245
11.10.System Accuracy Evaluation ..................................................................................................246
11.11.Calibration of the accelerometer.............................................................................................247
11.12.Settings to obtain correct north direction................................................................................249
11.13.Communication of Pixhawk with Marvelmind mobile beacon.................................................250
11.14.Sending path to robot .............................................................................................................251
11.15. Proper ultrasonic coverage....................................................................................................254
11.16. Sensors settings: example for 2D and mobile beacon..........................................................256
11.17.Powering beacons ..................................................................................................................257
11.18.Power supply and Leds ..........................................................................................................258
12. Frequently Asked Questions........................................................................................................259
13. Troubleshooting checklist ............................................................................................................261
13.1. Checklist before starting the system:......................................................................................262
14. Contacts.......................................................................................................................................263

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Version changes
V2022_08_24
-Chapter 6 updated
-Chapter 8 updated
-Section 11.3 updated
-Minor improvements
V2022_08_17
-Minor fixes and improvements
V2022_08_12
-Chapter 4 updated
V2022_08_10
-Section 9.11 Filters added
-Section 11.16 Sending path to robot updated
-Minor fixes and improvements
V2022_08_05
-Section 7.2 updated
-Section 9.12 added
-Section 9.2 Islands feature added
-Section 9.10 All hedgehogs update every cycle added
-Section 9.14.2 updated
-Chapter 10 updated
-Section 11.2.2 Static IP added
V2022_06_16
-Section 9.4 Restart if modem disconnected added
-Section 9.5 Geofencing alarm added
-Section 9.6 PPS (Pulse per second) signal added
-Section 11.1 Radio Profiles compatibility updated
-SW settings chapter moved to chapter 5
-Chapter 5.1.2 added
-Minor fixes and improvements
V2022_06_01
-Section 10.2 Wi-Fi settings for Super-Modem added
V2022_05_20
-Section 2.4 The Maps –moved to chapter 7
-Section 3.6.3.1 How to flash Beacon mini-RX added
-Section 8.22 updated
-Chapter 12 updated
-Section 4.4 updated
-Section 8.6 updated
-Section 10.1 Radio Profiles compatibility added

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V2022_05_13
-Section 5.2 DIP switch position added
-Information about Industrial Beacons 3 added
V2022_05_06
-Section 7.11 updated
-Section 2.3 updated
-Section 9.1 updated
V2022_04_26
-Section 4 - Software pack added
V2022_04_07
-Section 4 screenshots updated
-Section 6.7.3 added
-Section 6.7.4 added
-Section 6.12 updated
-Section 6.13 updated
-Section 6.9.1 updated
-Section 5.9.2 updated
V2022_04_05
-3.1 section updated
-3.2 section updated
-3.4 section updated
-3.5.3 section updated
-Information about Starter Set NIA-01-3D removed
-Section 4.3 pictures of top view and side view changed to relevant
-Section 4 examples of 2D configuration added
-Information about Starter Set NIA-02-2D removed
-Information about Starter Set IA-01-2D removed
-Information about Starter Set IA-02-3D removed
-5.1 section screenshot updated
-5.4 section all screenshots updated
-5.7 section screenshots updated
-6.7.1 section updated
-6.7.2 section screenshots updated
-Information about new frequencies added
-Section 11 updated
-Sections 3.6.4; 3.6.5; 3.6.6; 3.6.7 pinout picture from April 2022 added
V2022_02_23
-Screenshot and clarifications to section 7.2.2 added
-Unrelated information from section 9.11 removed
-Hyperlinks fixed
-Starter set product information updated

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-1.1 distance between beacons updated
-3.2 section updated
-3.4 section updated
-9.11 section updated
-11.1 section updated
-Minor fixes and improvements
V2021_08_12
-Omni-microphone soldering scheme added
-Omni-microphone setting description added
V2021_07_04
-Added Microphone settings chapter
V2021_06_20
- Added connection pictures for Paired beacons chapter
- Links fixed for interface manual
V2021_06_10
-“Paired microphones” chapter added.
-Turning on microphones setting describing added
V2021_06_04
-Super-Beacon 2 pinout picture updated
V2021_06_03
-Pairing beacon chapter and beacons pinout pictures updated
V2021_04_25
- Paired beacons chapter updated
V2021_02_09
- Minor fixes and improvements
V2021_01_28
- Architectures’ elements chapter described
- Architectures chapter improved
- Minor fixes and improvements
V2020_12_21
- FCC notice for Super-Beacon description added
- Minor fixes and improvements
V2020_12_14
- FCC notice for Modem HW v5.1 description added
- Minor fixes and improvements
V2020_12_04
- Starting up chapters improved
- Minor fixes and improvements
V2020_12_01
- Starting up chapters improved
- Submap’s settings chapter improved
- SW update chapter improved with DFU Programming descriptions
- Minor fixes and improvements

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V2020_11_24
- Licenses chapter updated
- Different beacons’ colors chapter improved
- Minor fixes and improvements
V2020_11_11
- Player chapter improved
- Diagnostics messages chapter described
- SW update chapter added
- Paired beacons chapter improved
- Minor fixes and improvements
V2020_08_07
- Modem HW v5.1 described
- Minor fixes and improvements
V2020_07_23
- System elements chapter improved
- Industrial beacons’ transmitting/reception diagram described
- Minor fixes and improvements
V2020_07_15
- Mini-RX internal solderable pinouts
- Minor fixes and improvements
V2020_05_21
- Starting up Starter Set Super-MP-3D (IA) described
- Minor fixes and improvements
V2020_05_13
- Reducing update rate latency chapter improved
- Minor fixes and improvements
V2020_05_08
- Building big maps in Inverse Architecture (IA) chapter described
- Minor fixes and improvements
V2020_04_24
- Dashboard Monitoring Mode described
- Super-Modem described
- Super-Modem SW update described
- Minor fixes and improvements
V2020_04_09
- Minor fixes and improvements
V2020_04_07
- Background color described
- Height input in Starting up chapters described
- Minor fixes and improvements
V2020_02_27
- Geofencing zones described
- IMU axis positioning for Super-Beacon described
- External microphones soldering scheme for Super-Beacon improved
V2020_02_21
- Minor fixes and improvements

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V2020_02_14
- Architectures comparison table added
- Legend chapter improved
- Minor fixes and improvements
- Floorplan Help video added
V2020_01_17
- External microphones connection for Mini-RX and Super-Beacon described
- Minor fixes and improvements
V2019_12_10
- Appendixes chapter improved
- Minor fixes and improvements
V2019_12_03
- Appendixes chapter added (protocols)
- Minor fixes and improvements
V2019_11_18
- Mini-RX solderable pinouts described
- Industrial connectors pinouts improved
- Minor fixes and improvements
V2019_10_31
- Industrial Super-Beacon Metal-25kHz described
- Starting up chapters for every starter set described
- Super-Beacon and Super-Beacon outdoor described
- Improved photos
- Reception diagrams for HW v4.9 improved
- Oscilloscope chapter improved
- Minor fixes and improvements
V2019_07_02
- Troubleshooting improved
- Architectures comparison improved
- Minor fixes and improvements
V2019_06_25
- TDMA modes described
- Stationary beacons’ colors described
- Minor fixes and improvements
V2019_06_13
- Delay tuning described
- Update rate tuning described
- Minor fixes and improvements
V2019_06_07
- F.A.Q. and Troubleshooting improved
- Architectures comparison improved
- Receiving and transmitting angles illustrations added (v4.9 chapter and Mini-RX chapter)
- Ceiling and mirroring buttons described
V2019_06_03
- TDMA described
V2019_05_28
- IMU axis positioning fixed

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- IA details added
- Troubleshooting improvements
- Minor fixes and improvements
V2019_05_16
- Introduction of the Legend
- Added missing video on page 34
- Minor fixes and improvements
V2019_04_30
- DFU programming described
- Magnetic reset for Industrial beacons and DFU programming described
- Minor fixes
V2019_04_04
- Starting up the system description for different Starter Sets (NIA, Industrial NIA and IA)
- Sending path to robot described
V2019_03_18
- New names for beacons: DSP => Mini-RX, Mini-beacon => Mini-TX, Beacon-TX-25-IMU-
IP67-RS485 => Industrial-TX, Beacon-RX-IMU-IP67-RS485 => Industrial-RX
- Starting up the system description for different Starter Sets
V2019_02_05
- Licenses described
- Minor fixes and improvements
V2019_01_29
- Mini-RX Inverse SW flashing described
- Added new types of beacons
- Minor fixes and improvements
V2019_01_12
- Mini-RX beacon and Mini-TX described
- IMU axis described
- Minor fixes and improvements
V2018_12_02
- Major new feature –support for 250 beacons (mobile + stationary combined) and 250
submaps per modem
- New feature: user must setup handover zones between submaps to guarantee handover
quality for complex maps with multi-floor and similar
- New feature: default wireless connection is setting is now 153kbps (used to be 38kbps).
Radio profile 153kbps provides radio coverage range nearly as much as 38kbps and
update rate nearly as high 500kbps, i.e. it is a middle of 38kbps and 500kbps, combining
the best of both
- Correction: USB streaming in power save mode improved
- Correction: Zero IMU button in the Dashboard is improved, while button Reset IMU is
removed completely
- Correction: ultrasound TX is not reset to 31kHz when Default button is pressed. Now,
several types of ultrasonic frequencies supported, so 31kHz is not anymore default
ultrasonic frequency for all beacons
- Improved: both energy saving and tracking quality with Power Saving mode enabled
- Improved: only beacons with selected tick in the Dashboard lower menu will be accepted
to the network –not any addresses. This improves predictability of the network, when there
many beacons that may not belong to the network. Their attempts to join the network will
be blocked

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- Improved: now, submaps support up to 4 beacons only. More than that –build another
submap. Up to 250 beacons (mobile + stationary combined) and up to 250 submaps are
supported per beacon
- Bug fix: improved map building with active hedgehog
- Bug fix: duplicated address might work incorrectly in some cases
V2018_11_08
- Real-time player feature described
V2018_08_30
- New SW features described
- New Dashboard view described
V2018_08_03
- Calibration of accelerometer described
- F.A.Q. updated
- Troubleshooting guide described
- Refreshed links
- Player feature described
- IMU feature described
- Minor fixes

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1.Executive summary
Marvelmind Indoor Navigation System is an off-the-shelf indoor navigation system, designed
to provide precise (±2cm) location data to autonomous robots, vehicles (AGV), and copters.
It can also be used to track moving objects via mobile beacons attached to them. Other
applications include, for example, forklifts, virtual reality (VR) systems, helmets for
construction workers or miners, etc.
The navigation system consists of a network of stationary ultrasonic beacons interconnected
via radio interface in a license-free band, one or more mobile beacons installed on objects to
be tracked and modem providing gateway to the system from PC or other computers.
Mobile beacon’s location is calculated based on a propagation delay of an ultrasonic pulses
(Time-Of-Flight or TOF) between stationary and mobile beacons using trilateration algorithm.
The system can build the map of stationary beacons automatically . In simple cases, no
additional manual data input or any manual distance measurements are required. This map
formed once can be frozen and stored in modem’s memory and the system becomes fully
active within 7 to 10 seconds after the modem is powered.
Minimum configuration requirements to ensure optimal performance of the Marvelmind
Indoor Navigation System:
- For 3D (X, Y, Z) tracking: an unobstructed line of sight (hearing) between a mobile beacon
and 3 or more stationary beacons within 30 meters
- For 2D (X, Y) tracking - an unobstructed line of sight (hearing) between a mobile beacon
and 2 or more stationary beacons within 30 meters
Fig. 1: Example of Starter Set based on Super-Beacons

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1.1. Key capabilities:
Parameter
Technical Specifications
Distance between
beacons
- Reaches up to 50 meters and up to 100 meters with horn under laboratory conditions (Mini-
RX or Super-Beacon to Super-Beacon with RX4 only)
- Recommended distance is 30 meters (Transducer4 on the first beacon is looking straight at
the Transducer4 on the second beacon, other transducers are switched off)
Coverage area
- Reaches up to 1000m2 with the Starter Set configurations
- Coverage for larger territories is provided using submap –like cells in cellular networks
Location precision
- Absolute: 1–3% of the distance to the beacons
- Differential precision: ±2cm
Location update
rate
- 1/20Hz to 25Hz (Ultrasonic based only)
- 100Hz with ultrasonic + IMU fusion enabled (Only for Beacons HW v4.9-IMU-Discontinued)
- Can be set manually via Dashboard software
- Depends on the distance between mobile and stationary beacons (shorter distance—
higher update rate)
- Depends on the number of mobile beacons (Non-Inverse Architecture; for Inverse
Architecture no such dependency)
- Depends on the radio profile (500kbps, 153kbps, 38kbps)
- Slightly depends on the number of stationary beacons—dependence is not the same as for
mobile beacons
Power supply
Internal: 1000mAh LiPo battery (Super-Beacon)
- Battery lifetime: from 2 days to several months depending on the mode of operations
*For other types of beacons look to the comparison table
External: micro USB –recommended for permanent use
Weight
Mobile beacon (Super-Beacon) from the starter set:
- 59 grams (including 1000mAh battery, Super-Beacon housing and 50mm antenna)
- 27 grams (Super-Beacon, bare board w/o battery)
*For other types of beacons look to the comparison table
Beacon size
Size: 55x55x33mm (with 50mm antenna: 55x55x65mm) (Super-Beacon)
*For other types of beacons look to the comparison table

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1.2. Legend
Legend chapter contains small icons and signs to highlight some key points of the text.
- Important
- For experienced users
- Demo or Help video
- Useful link

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2.Basics of the system
Here are examples of the Starter Sets:
2.1. What’s in the box
2.1.1. Starter Set Super-MP-3D:
- 4 x Stationary Super-Beacons with different frequences (19kHz, 22kHz, 25kHz,
28kHz, 31kHz, 34kHz, 37kHz, 45kHz). Can be used as AI and NIA.
- 1 x Mobile Super-Beacon
- 1 x Modem v5.1 supporting up to 250 beacons
2.1.2. Starter Set IA-04-2D-Badge:
- 2 x Super-Beacons –915/868 MHz with different ultrasonic frequencies (f1 and f2 –
usually, 25kHz and 31kHz).
- 1 x Marvelmind Badge –915/868 MHz as mobile beacon
- 1 x Modem HW v5.1 –915/868 MHz as central controller of the system
*This is just an example of two starter sets.
You can see more options on our website: Products

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2.2. Indoor Navigation System architectures
Marvelmind Indoor Navigation System provides high-precision (±2cm) indoor
coordinates for autonomous robots and systems (“indoor GPS”). A brief description of
the key elements of the system is given on the scheme below.
IA and NIA SW differs
For IA you should use stationary beacons with different frequencies
Below you can see 2 types of architectures: Non-Inverse (NIA) and Inverse (IA):

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Here is a tutorial video about architectures:
-Help: Inverse Architectures (IA) vs. Non-Inverse Architectures (NIA)

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2.3. Architectures’ elements
A map is a system unit that includes submaps, stationary beacons and service zones
within which positioning of mobile beacons is ensured by ultrasonic signals from the
stationary beacons of this submap.
The main parameters of a submap are its size, frequencies and TDMA position of
stationary beacons, by which mobile beacons can not only be positioned, but also
determine in which submap the mobile beacon is located.
Here is the main tutorial video about maps:
- Help: submaps, service zones, handover zones
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10
11
12
Service zone Submap1
Service zone Submap0
Mobile beacon
Stationary beacon
Submap1 tab
Submap0 (beacon 10 + 11)
Submap1 (beacon 11 + 12)
Handover zone (marked blue)
Submap0 tab
Map

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2.4. Indoor “GPS” System close-up and internal view
Here, you can see how system elements look like
- Super-Beacon:
- Modem HW v5.1:
- Beacon Mini-RX: